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I have a rigged model using an armiture in blender, I was wonder how you could bake the animation as kayframed data so that I could remove the armiture and the model still walks without being rigged.

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Googling turned up this: Maybe this helps. – bummzack Oct 25 '11 at 8:23
It's difficult to tell what exactly you are asking. I mean, Blender's wiki has a page called "Animation Baking" but I can't tell if that's relevant to your question because I can't tell what exactly you're asking… – jhocking Feb 19 '12 at 17:43

This is a somewhat manual process but works without any plugins in 2.5 and later. For each keyframe you want to 'bake' you need to insert a VisualLocation, VisualRotation or VisualLocRot keyframe in the target armature. After this you can unparent your control rig and the target still moves as it used to.

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